Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an observability-constrained magnetic field-aided inertial navigation system is proposed to address the issue of erroneous yaw observability, which leads to inconsistent estimates of yaw uncertainty. The proposed method builds upon the previously proposed observability-constrained extended Kalman filter and extends it to work with a magnetic field-based odometry-aided inertial navigation system. The proposed method is evaluated using simulation and real-world data, showing that (i) the system observability properties are preserved, (ii) the estimation accuracy increases, and (iii) the perceived uncertainty calculated by the EKF is more consistent with the true uncertainty of the filter estimates.

翻译：在定位系统中保持一致的估计不确定性至关重要，因为感知到的不确定性通常会影响高层系统组件，如控制或决策过程。本文提出了一种构建可观测性约束的磁场辅助惯性导航系统的方法，以解决偏航角可观测性错误导致偏航不确定性估计不一致的问题。该方法基于先前提出的可观测性约束扩展卡尔曼滤波器，并将其扩展至基于磁场的里程计辅助惯性导航系统。通过仿真和真实世界数据对所提方法进行评估，结果表明：(i) 系统可观测性特性得以保持，(ii) 估计精度得到提高，(iii) 扩展卡尔曼滤波器计算的感知不确定性与滤波器估计的真实不确定性更为一致。